openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/navd/main.cc

@@ -0,0 +1,29 @@
+#include <csignal>
+#include <sys/resource.h>
+
+#include <QApplication>
+#include <QDebug>
+
+#include "common/util.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/navd/map_renderer.h"
+#include "system/hardware/hw.h"
+
+int main(int argc, char *argv[]) {
+  Hardware::config_cpu_rendering(true);
+
+  qInstallMessageHandler(swagLogMessageHandler);
+  setpriority(PRIO_PROCESS, 0, -20);
+  int ret = util::set_core_affinity({0, 1, 2, 3});
+  assert(ret == 0);
+
+  QApplication app(argc, argv);
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
+
+  MapRenderer * m = new MapRenderer(get_mapbox_settings());
+  assert(m);
+
+  return app.exec();
+}